Agent gets rewards signals for each step taken in the environment. Reward engineering is the process of creating appropriate rewards for learning agents to collect during training.[1]}, [2]} Our technical details regarding details of explained in here.(See Section ). Completing all subtasks and finishing race defined as one episode of MDP process.PPO algorithm we used here can update its policy multiple times with one trajectory. We used competitor drone equipped the same physical appearance and aerodynamics to collect guidance data via API calls. A simple path planning algorithm has been used for competitor drone. Using an expert-guided approach allows our agent to not stuck in local optima and away from the target goal. Especially with high dimensional state problems its very hard to train agents from scratch. Exploration in the environment mostly supplied with expert guidance and hand-designed rewards. 
